eive-obsw/linux/payload/ScexUartReader.cpp
Robin Mueller 63b50e6101
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2023-03-26 16:42:00 +02:00

229 lines
7.5 KiB
C++

#include <fcntl.h> // Contains file controls like O_RDWR
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <linux/payload/ScexUartReader.h>
#include <unistd.h> // write(), read(), close()
#include <cerrno> // Error integer and strerror() function
#include <iostream>
#include "OBSWConfig.h"
using namespace returnvalue;
ScexUartReader::ScexUartReader(object_id_t objectId)
: SystemObject(objectId),
decodeRingBuf(4096, true),
ipcRingBuf(200 * 2048, true),
ipcQueue(200),
dleParser(decodeRingBuf, dleEncoder, {encodedBuf.data(), encodedBuf.size()},
{decodedBuf.data(), decodedBuf.size()}) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
lock = MutexFactory::instance()->createMutex();
}
ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
lock->lockMutex();
state = States::IDLE;
lock->unlockMutex();
while (true) {
semaphore->acquire();
int bytesRead = 0;
// debugMode = true;
while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
{
MutexGuard mg(lock);
if (state == States::FINISH) {
dleParser.reset();
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
state = States::IDLE;
break;
}
}
ReturnValue_t result = returnvalue::OK;
// Can be used to read frame, parity and overrun errors
// serial_icounter_struct icounter{};
// uart::readCountersAndErrors(serialPort, icounter);
while (result != DleParser::NO_PACKET_FOUND) {
result = tryDleParsing();
}
TaskFactory::delayTask(150);
} else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead
<< " bytes" << std::endl;
} else if (bytesRead > 0) {
if (debugMode) {
sif::info << "Received " << bytesRead
<< " bytes from the Solar Cell Experiment:" << std::endl;
}
ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
if (result != OK) {
sif::warning << "ScexUartReader::performOperation: Passing data to DLE parser failed"
<< std::endl;
}
result = tryDleParsing();
}
};
}
return OK;
}
ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
SerialCookie *uartCookie = dynamic_cast<SerialCookie *>(cookie);
if (uartCookie == nullptr) {
return FAILED;
}
std::string devname = uartCookie->getDeviceFile();
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "ScexUartReader::initializeInterface: open call failed with error [" << errno
<< ", " << strerror(errno) << std::endl;
return FAILED;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
serial::setStopbits(tty, uartCookie->getStopBits());
serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
serial::enableRead(tty);
serial::ignoreCtrlLines(tty);
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
serial::setBaudrate(tty, uartCookie->getBaudrate());
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
<< errno << ", " << strerror(errno) << std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIOFLUSH);
return OK;
}
ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) {
ReturnValue_t result;
if (sendData == nullptr or sendLen == 0) {
return FAILED;
}
lock->lockMutex();
if (state == States::NOT_READY or state == States::RUNNING) {
lock->unlockMutex();
return FAILED;
}
tcflush(serialPort, TCIFLUSH);
state = States::RUNNING;
lock->unlockMutex();
result = semaphore->release();
if (result != OK) {
std::cout << "ScexUartReader::sendMessage: Releasing semaphore failed" << std::endl;
}
size_t encodedLen = 0;
result = dleEncoder.encode(sendData, sendLen, cmdbuf.data(), cmdbuf.size(), &encodedLen, true);
if (result != OK) {
sif::warning << "ScexUartReader::sendMessage: Encoding failed" << std::endl;
return FAILED;
}
size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl;
return FAILED;
}
return OK;
}
ReturnValue_t ScexUartReader::getSendSuccess(CookieIF *cookie) { return OK; }
ReturnValue_t ScexUartReader::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return OK;
}
void ScexUartReader::setDebugMode(bool enable) { this->debugMode = enable; }
ReturnValue_t ScexUartReader::finish() {
MutexGuard mg(lock);
if (state == States::IDLE) {
return FAILED;
}
state = States::FINISH;
return OK;
}
void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len);
if (result != OK) {
sif::warning << "ScexUartReader::handleFoundDlePacket: IPCQueue error" << std::endl;
}
result = ipcRingBuf.writeData(packet, len);
if (result != OK) {
sif::warning << "ScexUartReader::handleFoundDlePacket: IPCRingBuf error" << std::endl;
}
}
ReturnValue_t ScexUartReader::tryDleParsing() {
size_t bytesRead = 0;
ReturnValue_t result = dleParser.parseRingBuf(bytesRead);
if (result == returnvalue::OK) {
// Packet found, advance read pointer.
auto &decodedPacket = dleParser.getContext().decodedPacket;
handleFoundDlePacket(decodedPacket.first, decodedPacket.second);
dleParser.confirmBytesRead(bytesRead);
} else if (result != DleParser::NO_PACKET_FOUND) {
sif::warning << "ScexUartReader::performOperation: Possible packet loss" << std::endl;
// Markers found at wrong place
// which might be a hint for a possibly lost packet.
dleParser.defaultErrorHandler();
dleParser.confirmBytesRead(bytesRead);
}
return result;
}
void ScexUartReader::reset() {
lock->lockMutex();
state = States::FINISH;
ipcRingBuf.clear();
while (not ipcQueue.empty()) {
ipcQueue.pop();
}
lock->unlockMutex();
}
ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) {
MutexGuard mg(lock);
if (ipcQueue.empty()) {
*size = 0;
return OK;
}
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
if (result != OK) {
sif::warning << "ScexUartReader::readReceivedMessage: Reading RingBuffer failed" << std::endl;
}
return OK;
}